diff --git a/APMrover2/mode_manual.cpp b/APMrover2/mode_manual.cpp
index 5bd739bab5..9fcedd7d30 100644
--- a/APMrover2/mode_manual.cpp
+++ b/APMrover2/mode_manual.cpp
@@ -3,7 +3,10 @@
 
 void ModeManual::update()
 {
-    // mark us as in_reverse when using a negative throttle to
-    // stop AHRS getting off
+    // copy RC scaled inputs to outputs
+    g2.motors.set_throttle(channel_throttle->get_control_in());
+    g2.motors.set_steering(channel_steer->get_control_in());
+
+    // mark us as in_reverse when using a negative throttle to stop AHRS getting off
     rover.set_reverse(is_negative(g2.motors.get_throttle()));
 }
diff --git a/APMrover2/radio.cpp b/APMrover2/radio.cpp
index 7cb95acd65..764b08e82f 100644
--- a/APMrover2/radio.cpp
+++ b/APMrover2/radio.cpp
@@ -152,10 +152,6 @@ void Rover::read_radio()
         channel_throttle->set_pwm(thr);
     }
 
-    // copy RC scaled inputs to outputs
-    g2.motors.set_throttle(channel_throttle->get_control_in());
-    g2.motors.set_steering(channel_steer->get_control_in());
-
     // check if we try to do RC arm/disarm
     rudder_arm_disarm_check();
 }